# FTmini-I CAN bus issues

**URL:** <https://discuss.cubepilot.org/t/ftmini-i-can-bus-issues/14394>\
**Category:** Mission Planner\
**Created:** [11 November 2024 19:55 UTC](https://discuss.cubepilot.org/t/ftmini-i-can-bus-issues/14394 "2024-11-11T19:55:45Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![MichaelD](https://discuss.cubepilot.org/letter_avatar_proxy/v4/letter/m/c37758/32.png) [@MichaelD](https://discuss.cubepilot.org/u/MichaelD)\
**Post date:** [11 November 2024 19:55 UTC](https://discuss.cubepilot.org/t/ftmini-i-can-bus-issues/14394/1 "2024-11-11T19:55:45Z")

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Hello,

I would love to have some help; I’m trying to connect two FTmini-i’s on the CAN2 port via a Can splitter that was delivered with the cube orange + or the Here 4

my setup; Cube orange+ connected to the Here 4 trough the Can 1, that’s working fine and the first flights were good.

But now I’m starting the stage 2 of the build with connecting two FTmini-i’s one for avoidance and one for ground following,

I followed this what I found on ardupilot; AVOID\_ENABLE= 3 [if 3 = UseFence and UseProximitySensor doesn’t work in IIC then choose **2**  **=**  **UseProximitySensor**]

AVOID\_MARGIN=4

PRX\_TYPE=4

**Settings**  **for**  **CAN**  **-1**  **port**  **:**

CAN\_P1\_DRIVER = 1

CAN\_D1\_PROTOCOL = 11

CAN\_P1\_BITRATE = [Baud-rate: For TFmini-i and TF02-i it is 250000, and for TF03 the default baud-rate needs to be set to 1000000.]

In case of pixhawk1 we only have one CAN interface but if there are more than one interfaces then configure the parameters for CAN-2 interface.

**Settings**  **for**  **CAN**  **-2**  **port**  **:**

CAN\_P2\_DRIVER = 1

CAN\_D2\_PROTOCOL = 11

CAN\_P2\_BITRATE = [Baud-rate: For TFmini-i and TF02-i it is 250000, and for TF03 the default baud-rate needs to be set to 1000000.]

**Settings**  **for**  **first**  **TFmini**  **-**  **i**  **or**  **TF**  **02-**  **i** :

RNGFND1\_RECV\_ID = 3 [CAN Transmit ID of #1 TFmini-i or TF02-i in decimal]

RNGFND1\_GNDCLEAR=15 [Unit: cm, depending upon mounting height of the module and should be larger LiDAR than non-detection zone. This parameter is required to be configured for altitude hold, it is the installation height of LiDAR from ground.]

RNGFND1\_MAX\_CM = 400 [It could be changed according to real demands but should be smaller than effective measure range of LiDAR, unit is cm]

RNGFND1\_MIN\_CM=30 [It could be changed according to real demands and should be larger than LiDAR non-detection zone, unit is cm]

RNGFND1\_ORIENT=0 [#1 TFmini-i real orientation]

RNGFND1\_TYPE = 34 [TFmini-i CAN same as TF02-i and TF03-CAN]

**Settings**  **for**  **second**  **TFmini**  **-**  **i**  **or**  **TF**  **02-**  **i**  **:**

RNGFND2\_RECV\_ID = 4 [CAN Transmit ID of #2 TFmini-i or TF02-i in decimal]

RNGFND2\_MAX\_CM=400

RNGFND2\_MIN\_CM=30

RNGFND2\_ORIENT = 6 [#2 TFmini-i real orientation]

RNGFND2\_TYPE = 34 [TFmini-i CAN same as TF02-i and TF03-CAN]

but everything in the sonar/rangefinder/PRX are staying 0…

What I’m overlooking here?

Thanks for all help,

Michaël